This work presents the system and approach we employed to tackle thesecond challenge of the Mohamed Bin Zayed International Robotics Challenge(MBZIRC). The goal of this challenge is to find a tool panel on a field, pickan appropriate wrench from the panel, and operate a valve stem therewith. Forthis purpose we use a task-oriented field robot, based on Clearpath Husky with acustomized series elastic arm, that can be deployed for versatile purposes. However,to be competitive in a robotic challenge, further specialization and improvementsare necessary to achieve a certain task faster and more reliably. A high emphasis isput on designing a system that can operate fully autonomously and independentlyrespond if a subtask was not executed successfully. Moreover, the operator can easilymonitor the system through a graphical user interface and, if desired, interact with therobot. We present our algorithms to explore the field, detect the panel, and navigateto it. Furthermore, we use a support vector machine based object detection methodto locate the valve stem and wrenches on the panel for visual servoing. Finally, weshow the advantages of a force controllable manipulator to handle the valve stemwith a tool. This system demonstrated its applicability when fulfilling the entire taskfully autonomously during both trials of the Grand Challenge of the MBZIRC 2017Show more